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How can I put noise to my P3DX model?

asked 2015-07-08 06:49:13 -0600

Alvaro Salcedo gravatar image

updated 2015-07-14 06:56:40 -0600

Hi Ros Users :

I am trying to put noise to my P3DX model wich is https://github.com/RafBerkvens/ua_ros... Because the model behaviour is unrealistic.

Does Anybody know what I must modify in the code to do that?

Thanks!!!!

In respose to your comment @Javi V.

I modify this part of the code:

 <!-- ground truth -->
<gazebo>
<plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>${ns}/base_pose_ground_truth</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>map</frameName>
<!-- initialize odometry for fake localization -->
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
</plugin>
</gazebo>

in Gaussian noise but it does the same... any ideas? Do I have to change something else to make this work ?

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Comments

Have you taken a look at https://github.com/RafBerkvens/ua_ros... ? Different Gazebo plugins are being used and hopefully you can set noise of those.

Javier V. Gómez gravatar imageJavier V. Gómez ( 2015-07-08 07:13:20 -0600 )edit

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answered 2015-07-08 07:36:44 -0600

cmeaclem gravatar image

Have you considered multiplying the data individually by a random number generated from the distribution of your choosing? Eg a gaussian function with mean of 1 and suitably high standard deviation might work well.

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First of all, thanks for answering. Where can I find a gaussian function?

Alvaro Salcedo gravatar imageAlvaro Salcedo ( 2015-07-14 06:51:55 -0600 )edit

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Asked: 2015-07-08 06:49:13 -0600

Seen: 327 times

Last updated: Jul 14 '15